In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function under uncertain environmental disturbances. The control framework integrates a learning-based MPC with an auxiliary controller in a way of minimal intervention. The learning-based MPC augments the prior nominal model with incremental Gaussian Processes to learn the uncertain disturbances. The cross-entropy method (CEM) is utilized as the sampling-based optimizer for the MPC with a non-differentiable objective function. A minimal intervention controller is devised with a control Lyapunov function and a control barrier function to guide the sampling process and endow the system with high probabilistic safety. The proposed algorithm shows a safe and adaptive control performance on a simulated quadrotor in the tasks of trajectory tracking and obstacle avoidance under uncertain wind disturbances.
Safe Reinforcement Learning with a Predictive Safety Filter for Motion Planning and Control: A Drifting Vehicle Example
State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术国家重点实验室）；Professorship of Autonomous Vehicle Systems, Technical University of Munich（慕尼黑工业大学自主车辆系统教授职位）
Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
Robert Bosch Center for Cyber Physical Systems（罗伯特·博世网络物理系统中心）；Indian Institute of Science（印度科学研究院）；Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所（MIRMI））；Technical University of Munich（慕尼黑技术大学）；Department of Computer Science & Automation（计算机科学与自动化部门）；Department of Mechanical Engineering（机械工程系）；Carnegie Mellon University（卡内基梅隆大学）；Institute for Advanced Study（高级研究 institute）
BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
Department of Computer Science, University College London, UK（伦敦大学学院计算机科学系，英国）；Istituto Italiano di Tecnologia (IIT), Genova, Italy（意大利热那亚Istituto Italiano di Tecnologia（IIT））；CNRS, Inria, IRISA, Campus de Beaulieu, Rennes Cedex, France（法国里昂CNRS、Inria、IRISA研究中心）
Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Ming Hsieh Department of Electrical and Computer Engineering, University of Southern California（南加州大学明希德电气与计算机工程系）；Department of Aeronautics and Astronautics, Stanford University（斯坦福大学航空与航天系）；Electrical and Computer Engineering Department, New York University（纽约大学电气与计算机工程系）
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Paderborn University（帕德博恩大学）；Illinois Institute of Technology（伊利诺伊理工学院）；California Institute of Technology（加州理工学院）；Technical University of Munich（慕尼黑工业大学）
Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
Department of Electrical and Computer Engineering, University of Southern California（电气与计算机工程系，南加州大学）；Department of Aeronautics and Astronautics, Stanford University（航空与航天系，斯坦福大学）；Electrical and Computer Engineering Department, New York University（电气与计算机工程系，纽约大学）
A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学）；Institute for Dynamic Systems and Control, ETH Zürich（动态系统与控制研究所，苏黎世联邦理工学院）
Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
Mechatronics group at the Department of Electrical Engineering, Chalmers University of Technology（楚克大学电气工程系机电组）；Dept. of Electrical and Information Engineering, Italian National Ph.D. DAUSY, Polytechnic of Bari（意大利国家博士项目DAUSY巴里理工学院电子与信息工程系）
Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon
University of Toronto（多伦多大学）；University of Toronto Robotics Institute（多伦多大学机器人研究所）；Vector Institute for Artificial Intelligence（向量人工智能研究所）；Technical University of Munich（慕尼黑工业大学）；Munich Institute for Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所）
Safety-Guaranteed Imitation Learning from Nonlinear Model Predictive Control for Spacecraft Close Proximity Operations
Space Applications Group, e:fs TechHub GmbH（空间应用组，e:fs科技枢纽 GmbH）；Faculty of Electrical Engineering and Information Technology, Ingolstadt University of Applied Sciences（电气工程与信息科技学院，因戈尔施塔特应用技术大学）
Towards Safe Learning-Based Non-Linear Model Predictive Control through Recurrent Neural Network Modeling
Institute of Computer Engineering, TU Wien（计算机工程研究所，维也纳技术大学）；AIT Austrian Institute of Technology（奥地利技术研究所）；Institute of Mechanics and Mechatronics, TU Wien（机械与机电系统研究所，维也纳技术大学）
VisioPath: Vision-Language Enhanced Model Predictive Control for Safe Autonomous Navigation in Mixed Traffic
System Engineering Program, Cornell University（Cornell大学系统工程项目）；School of Civil and Environmental Engineering, Cornell University（Cornell大学土木与环境工程学院）；School of Electrical and Computer Engineering, Cornell University（Cornell大学电气与计算机工程学院）
A Switching Nonlinear Model Predictive Control Strategy for Safe Collision Handling by an Underwater Vehicle-Manipulator System
D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology（德·古根海姆航空航天工程学院，佐治亚理工学院）；faculty of Electrical Engineering, Engineering Division, New York University Abu Dhabi（电气工程系，工程分校，纽约大学阿布扎克分校）
A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation
Automation & Control Institute (ACIN), TU Wien（自动化与控制研究所（ACIN），维也纳技术大学）；Center for Vision, Automation & Control, AIT Austrian Institute of Technology GmbH（视觉、自动化与控制中心，奥地利技术研究所）
Bridging Predictive Uncertainty and Safe Action: Sample-Conditioned Differentiable Planning for Autonomous Driving
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology（香港科学与技术大学机器人与自主系统方向）；Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（香港科学与技术大学电子与计算机工程系）；Department of Civil and Environmental Engineering, University of California, Los Angeles（加州大学洛杉矶分校土木与环境工程系）；School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）
